Path Planning of Robot Manipulator Using Bezier Technique: Robotics and Automation - Softcover

Hassan, Alaa

Softcover

ISBN 10: 365911605X ISBN 13: 9783659116056

Publisher: LAP LAMBERT Academic Publishing, 2014

Synopsis

Robot manipulator is one of the motivation disciplines in industrial and educational applications. It is designed to be flexible in general motion to move objects from one position to another with smooth movement. In this work the motion planning is based on modeling and analysis of 5 degree of freedom (DOF), robot manipulator is the main objective of this thesis, solving the modeling problem is necessary before applying any motion techniques to guarantee the execution of any task according to a desired input with minimum error. Deriving both forward and inverse kinematics equations is an important step in robot modeling, an analytical solution for the robot manipulator has been worked in this thesis to obtain a path control using forward and inverse kinematics methods. By these methods manipulator's joints angles are determined from the required target given in Cartesian space. This work tests some vital tasks in industry, these are: pick and place operation, geometric path-based path planning, obstacle avoidance, and path tracking.

About this title

About the Author

Alaa H. Shabeeb is a Senior Lecturer at the Dep. of Production Eng. & Metallurgy, University of Technology in Baghdad, Iraq. He received his B.Sc & MSc. in Production Eng. in 2006 & 2013 from the University of Technology. He held academic positions at the University. His research interests include CIM, Automation, Robotics, Materials Eng.& Mfg.

Edition details

• Publisher: LAP LAMBERT Academic Publishing
• Publication date: 2014
• Language: English
• ISBN 10: 365911605X
• ISBN 13: 9783659116056
• Binding: Paperback
• Number of pages: 128